JP2023530651A - Information transmission method, apparatus, device and computer storage medium - Google Patents

Abstract

Embodiments of the present application provide information transmission methods, apparatus, devices and computer storage media. The information transmission method is a step of obtaining first information for positioning of a terminal device, wherein the first information includes differential positioning information, or the first information is environment information or a satellite positioning signal. and the differential positioning information; and transmitting the differential positioning information to the terminal device (S220) if the first information satisfies a preset condition. This method effectively reduces the transmission of unnecessary differential positioning information, avoids unnecessary energy consumption of roadside devices and terminal devices, saves the time of calculating position information by terminal devices, and enhances the system's high-precision positioning. Efficiency can be improved.

Description

TECHNICAL FIELD Embodiments of the present application belong to the field of positioning technology, and more particularly to information transmission methods, apparatuses, devices and computer storage media.

(Cross reference to related application)
This application has application number 202010819515. X, filed based on a Chinese patent application with a filing date of August 14, 2020, claiming priority of said Chinese patent application, the entire content of which is hereby incorporated by reference into this application incorporated into.

From the mobile Internet to the Internet of Things, location is one basic and essential piece of information. However, from the perspective of segmented industry application needs, only higher precision positioning information can bring more value, and people can know the location of people and things and things can be better served. Therefore, high-precision positioning technology is important for mobile Internet and Internet of Things applications, especially Internet of Vehicles.

The most common positioning method is satellite positioning, but satellite signals are susceptible to factors such as sunspot movement, bad weather, and electromagnetic interference, and these effects are unavoidable. Additionally, the industry typically employs differential positioning techniques.

In the road-vehicle cooperation system, differential positioning information is broadcast to an on-board unit (OBU) of a terminal device via a roadside unit (RSU) of the roadside device, and the terminal device receives the received satellite positioning information. Based on the signal and differential positioning information, a precise position is calculated. Regardless of whether the OBU needs differential positioning information, the RSU continues to send differential positioning information to the OBU, and the terminal device continues to perform high-precision positioning calculations, resulting in the calculation of positioning information. The time increases, causing energy waste of roadside devices and terminal devices, and at the same time reducing the efficiency of high-precision positioning of the system.

The embodiments of the present application determine the transmission time of differential positioning information according to the needs of terminal devices, reduce the calculation time of positioning information, reduce the energy consumption of roadside devices and terminal devices, and provide high-precision positioning of the system. To provide an information transmission method, apparatus, device, and computer storage medium that can improve the efficiency of

In a first aspect, embodiments of the present application include:
obtaining first information for positioning of the terminal device, the first information comprising differential positioning information, or the first information comprising at least one of environment information or satellite positioning signals and a differential a step including positioning information;
and transmitting differential positioning information to a terminal device if the first information satisfies a preset condition.

In some embodiments, if the first information is environment information and differential positioning information, the preset condition includes that the environment information is the first environment information.

In some embodiments, the differential positioning information comprises a differential value, and the preset condition comprises greater than a preset differential threshold when the first information is the differential value.

In some embodiments, if the first information is satellite positioning signals and differential positioning information, calculating a calculated position of the roadside device based on the satellite positioning signals and differential positioning information;
Based on the calculated position and the actual position of the roadside device, determine the distance difference between the calculated position and the actual position;
If the first information satisfies a preset condition, the step of transmitting differential positioning information to the terminal device comprises:
Sending differential positioning information to the terminal device if the distance difference is greater than a preset distance difference threshold.

In a second aspect, embodiments of the present application include:
An acquisition module configured to acquire first information for positioning of a terminal device, the first information comprising differential positioning information, or the first information being among environment information or satellite positioning signals. and differential positioning information;
a transmitting module configured to transmit differential positioning information to a terminal device if the first information satisfies a preset condition.

In some embodiments, if the first information is environment information and differential positioning information, the preset condition includes that the environment information is the first environment information.

In some embodiments, the differential positioning information comprises a differential value, and the preset condition comprises greater than a preset differential threshold when the first information is the differential value.

In some embodiments, the information transmitting device is configured to calculate the calculated position of the roadside unit based on the satellite positioning signal and the differential positioning information, if the first information is the satellite positioning signal and the differential positioning information. further comprising a calculation module that
The information transmitting apparatus further includes a determination module configured to determine a distance difference between the calculated position and the actual position of the roadside device based on the calculated position and the actual position of the roadside device;
The transmitting unit is specifically configured to transmit said differential positioning information to a terminal device if said distance difference is greater than a preset distance difference threshold.

In a third aspect, embodiments of the present application provide a roadside device including a memory storing computer program instructions and a processor for reading and executing the computer program instructions to implement the information transmission method described above.

In a fourth aspect, embodiments of the present application provide a computer storage medium storing computer program instructions for, when executed by a processor, causing the processor to implement the above method of transmitting information.

In the information transmission method, apparatus, device and computer storage medium provided by the embodiments of the present application, the information transmission method comprises: a roadside device obtaining first information for positioning a terminal device; 1 information includes differential positioning information, or the first information includes at least one of environmental information or satellite positioning signals and differential positioning information, wherein the terminal device and the high-precision positioning platform; There is no need to establish a communication connection between, that is, the terminal device does not need a mobile communication module and high-precision positioning function, thus reducing the device cost. By transmitting differential positioning information to the terminal device when the first information satisfies a preset condition, the transmission of unnecessary differential positioning information is effectively reduced, and the unnecessary energy consumption of the roadside device and the terminal device is reduced. It can avoid, save the calculation time of location information by the terminal device, and improve the efficiency of high-precision positioning of the system.

1 is a structural schematic diagram of an information transmission system provided by an embodiment of the present application; FIG. 3 is a flow chart of an information transmission method provided by an embodiment of the present application; 1 is a structural schematic diagram of a roadside information management device provided by an embodiment of the present application; FIG. 3 is a flow chart of an information transmission method provided by an embodiment of the present application; 3 is a flow chart of an information transmission method provided by an embodiment of the present application; 3 is a flow chart of an information transmission method provided by an embodiment of the present application; 1 is a structural schematic diagram of an information transmission device provided by an embodiment of the present application; FIG. 1 is a structural schematic diagram of a roadside device provided by an embodiment of the present application; FIG.

In order to more clearly describe the technical solutions in the embodiments of the present application, the drawings required for the embodiments of the present application will be briefly introduced. Other drawings can be obtained based on the drawing.

Features and illustrative examples of various aspects of the present application are described in detail below. In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be described in more detail below in combination with drawings and examples. It should be understood that the specific examples described herein are for the purpose of interpreting the present application only, but are not used to limit the present application. It will be apparent to those skilled in the art that the present application may be practiced without these specific details. The following description of examples is only intended to provide a better understanding of the present application by showing examples of the present application.

It should be noted that in this description relational terms such as first and second etc. are only intended to distinguish one entity or operation from another entity or operation, and not necessarily those entities or operations. does not claim or imply that any actual relationship or order exists between And for the purpose that the terms "inclusive," "inclusive," or any other variation include non-exclusive inclusion, a process, method, article, or device that includes a set of elements includes those elements as well as the express or contain elements specific to such processes, methods, articles, or devices. Unless further limited, an element qualified by the phrase "comprising" does not exclude the presence of other identical elements in a process, method, article or device containing said element.

Currently, the most common positioning method is satellite positioning, and the world's four major satellite positioning systems are China's Beidou, the United States' Global Positioning System (GPS), and Russia's Global Navigation Satellite System (GPS). GLONASS: Global Navigation Satellite System), Galileo of the European Union, the working principle of various satellite positioning systems is almost the same, taking GPS as an example, it consists of 27 working satellites, so It can observe four or more satellites anywhere in the world, measure the distance from the satellites whose positions are known to the user's receiver, and then combine the data from multiple satellites to know the specific position of the receiver. It may be easily understood that it can be done. This shows that the quality of the received satellite signal is greatly related to positioning accuracy. do not have. For differential positioning techniques commonly used in the industry to cancel these interferences, the principle is to provide a ground reference station to measure the current satellite signals and compare the ground reference station's known actual position with the received signal. calculating a difference parameter of the signal based on the obtained satellite signal, the difference parameter includes the effects of various interference factors, the reference station transmits the difference parameter to the terminal device, and the terminal device uses the difference parameter to obtain the measurement result thereof; is corrected to obtain an accurate positioning result. Therefore, positioning devices need to receive differential positioning information in order to achieve high-precision positioning.

In the prior art, there are mainly two methods for terminal devices to acquire differential positioning information. One method is that the terminal device mainly communicates with the server of the high-precision positioning platform through the mobile communication module to query its differential positioning information, in this method, the terminal device is equipped with a mobile communication module. , the high-precision positioning function needs to be activated, resulting in an increase in the cost of the terminal device. Another method is to enable the road-vehicle cooperation system to cancel the effects of various interference factors in the road scene by turning on the vehicle-mounted unit (OBU) of the terminal device through the roadside unit (RSU) of the roadside device. Broadcast the differential positioning information to the Board Unit). However, when the weather conditions are good, various interference factors are weakened, at which time the terminal device can obtain highly accurate positioning results without requiring differential positioning information. Therefore, when the environment is good, if the RSU continues to broadcast the differential positioning information, unnecessary differential positioning information transmission and high-precision calculation on the terminal device side will occur, and the calculation time of the position information on the terminal device side will increase. However, it also causes energy waste of RSU, OBU and terminal devices, and reduces the efficiency of high-precision positioning of the system.

To solve the problems of the prior art, the embodiments of the present application provide an information transmission method, apparatus, device and computer storage medium.

In an embodiment of the present application, the first information for positioning the terminal device is obtained by the roadside device, and the difference positioning information is used to determine the correction accuracy of the positioning result information according to the relationship between the first information and preset conditions. To determine whether to improve and to control the RSU to transmit the differential positioning information to the roadside terminal device only when the terminal device needs the positioning differential information to correct the positioning result, the terminal device can complete accurate positioning by differential positioning information, avoid unnecessary energy waste of roadside devices and terminal devices, save the time of calculating position information by terminal devices, and improve the efficiency of high-precision positioning of the system.

The following first introduces the information transmission system provided by the embodiments of the present application.

FIG. 1 is a structural schematic diagram of an information transmission system provided by an embodiment of the present application.

As shown in FIG. 1 , the information transmission system may include satellites 110 , roadside devices 120 , ground reference stations 130 , precision positioning platforms 140 and terminal devices 150 .

Here, the roadside device 120 includes a roadside unit 121 and a roadside information management device 122 . The roadside unit 121 is mounted on the roadside and uses dedicated short-range communication technology (DSRC) and/or long-term evolution-vehicle (LTE-V) to travel on the road. It can communicate with communication devices and send and receive various information. The roadside unit 121 in the embodiments of the present application is also used to broadcast differential positioning information to the roadside corresponding to the appropriate ground reference stations 130 for positioning terminals in this area.

An in-vehicle unit 151 is attached to the terminal device 150, and the in-vehicle unit 151 can communicate with the roadside unit 121 using DSRC and/or LTE-V technology to transmit and receive various information. The On-Board Unit 151 in the embodiments of the present application may also be used to receive differential positioning information corresponding to the appropriate ground reference stations 130 for terminal devices 150 in this area, roadcast by the Roadside Unit 121 to the roadside. good. The roadside unit 121 transmitting the differential positioning information to the roadside may be the roadside unit 121 transmitting the differential positioning information to the roadside at the timing. It may be to send the differential positioning information, and if the terminal device 150 needs high-precision positioning, the onboard unit 151 may request the roadside unit 121 to send the differential positioning information. good. The terminal device 150 may be a sedan, a truck, or some other vehicle equipped with a positioning system, but is not limited here.

In a satellite positioning system, satellites 110 transmit satellite positioning signals, ground reference stations 130 continuously observe the satellite positioning signals over time, and communication devices transmit observation data to a high-precision positioning platform 140 in real time or timing. Then, the high-precision positioning platform 140 analyzes and calculates the observation data of each ground reference station 130 to obtain differential positioning information. The roadside information management device 122 acquires the environmental information and the differential positioning information, receives the satellite positioning signal transmitted by the satellite 110, and the differential positioning information improves the correction accuracy of the positioning result according to preset conditions. determination result 1 that the differential positioning information has improved the correction accuracy of the positioning result and determination result 2 that the differential positioning information does not improve the correction accuracy of the positioning result are obtained, and two determinations are obtained. Control information is formed according to the result. The roadside unit 121 receives the control information, and when the control information includes the determination result 1, transmits differential positioning information to the roadside terminal device 150 based on the control information, and the vehicle-mounted unit 151 receives the differential positioning information. Then, the terminal device 150 calculates a highly accurate positioning result of the terminal device 150 based on the received satellite positioning signal and the differential positioning information received by the in-vehicle unit 151 .

FIG. 2 is a flowchart of an information transmission method provided by one embodiment of the present application. As shown in FIG. 2, the information transmission method may include the following steps.

In S210, obtaining first information for positioning the terminal device, the first information including differential positioning information, or the first information comprising at least one of environment information or satellite positioning signals and differential positioning information. including.

The roadside device 120 provides the roadside terminal device 150 with differential positioning information capable of correcting the position information, acquires the differential positioning information from the high-accuracy positioning platform 140 by the roadside information management device 122 of the roadside device 120, and performs the differential positioning information. The information includes at least errors such as satellite and receiver clock differences, atmospheric propagation delays, multipath effects, and the like. In order to reduce transmission of unnecessary differential positioning information from the roadside unit 121 of the roadside device 120 to the vehicle-mounted unit 151 of the terminal device 150, the roadside information management device 122 sends differential positioning information to the vehicle-mounted unit 151 based on the differential positioning information. Not only determining whether to transmit information, but also determining whether to transmit the differential positioning information to the in-vehicle unit 151 based on at least one of the environmental information or the satellite positioning signal and the differential positioning information. can also Here, the environmental information includes factors that affect weather conditions, such as airflow information, temperature information, and PM values.

In S220, if the first information satisfies a preset condition, the differential positioning information is transmitted to the terminal device.

If the first information satisfies a preset condition, the terminal device 150 needs differential positioning information to support high-precision positioning, at which time the roadside information management device 122 sends the differential positioning information to the terminal device 150 . to send. The first information may include only differential positioning information, or may include environment information and differential positioning information, or satellite positioning signals and differential positioning information. If the auxiliary information included in the first information is different, the corresponding preset conditions are different, and the roadside information management device 122 is required to transmit the differential positioning information to the terminal device 150. to ensure the accuracy of positioning results calculated by the terminal device 150 in any environment.

In an embodiment of the present application, the first information for positioning the terminal device is obtained by the roadside device, the first information includes differential positioning information, or the first information includes environment information or satellite positioning signals. contains at least one and differential positioning information, and does not need to establish a communication connection between the terminal device and the high-precision positioning platform, that is, the terminal device needs to be equipped with a mobile communication module to activate the high-precision positioning function and reduces device cost. By transmitting differential positioning information to the terminal device when the first information satisfies a preset condition, the transmission of unnecessary differential positioning information is effectively reduced, and the unnecessary energy consumption of the roadside device and the terminal device is reduced. It can avoid, save the calculation time of location information by the terminal device, and improve the efficiency of high-precision positioning of the system.

In one embodiment, if the first information is environment information and differential positioning information, the preset condition includes that the environment information is the first environment information.

The first environmental information includes environmental information indicative of severe weather, such as low air visibility information, rain/rain weather information, and airflow variation information. The roadside information management device 122 of the roadside device 120 may be provided with an environment monitoring module for acquiring environment information, and may be connected to an environment information disclosure platform for acquiring environment information.

The roadside information management device 122 determines the weather condition based on the environment information, and if the current air visibility is high, the weather is clear, the airflow is stable, etc., the weather condition is very good, i.e. the satellite The interference of the air layer to the positioning signal is small, the differential positioning information has little impact on the calculation of the positioning result of the terminal device 150, and the terminal device 150 can support positioning without the need for differential positioning information. can. Based on this determination result, control information is generated and transmitted to the roadside unit 121. The roadside unit 121 does not transmit differential positioning information to the vehicle-mounted unit 151 based on the control information. Calculate its location based on

If the environment information includes the first environment information, i.e., the current thunder, storm, turbulence, etc., the weather conditions are not good, i.e. there is much air interference to the satellite positioning signal, and the difference measurement information is the terminal device Terminal device 150 needs differential positioning information to assist in positioning, which has a significant impact on the calculation of the measurement results of 150 . Based on this determination result, control information is generated and transmitted to the roadside unit 121. The roadside unit 121 transmits differential positioning information to the vehicle-mounted unit 151 based on the control information. Calculate its location based on the positioning signal.

In one embodiment, the differential positioning information comprises a differential value, and if the first information is the differential value, the preset condition comprises greater than a preset differential threshold.

At present, if it is not easy to determine the weather condition based on the environment information, the difference value of the difference positioning information is obtained, the relationship between the difference value and the preset difference threshold is compared, and the difference value is: Error values, such as clock differences between the satellite 110 and the receiver, atmospheric propagation delays, multipath effects, etc., can be included, and the difference values are compared to see if they fall within a preset difference threshold.

If the difference value is in the range of the preset difference threshold, i.e., if the difference value is less than the preset difference threshold, the interference to the satellite positioning signal is small, and the differential positioning information is the terminal device 150 It is expected to have little impact on the calculation of positioning results, and terminal device 150 can support positioning without the need for differential positioning information. According to the determination result, control information is generated and transmitted to the roadside unit 121, the roadside unit 121 does not transmit the differential positioning information to the vehicle-mounted unit 151 based on the control information, and the terminal device 150 transmits the satellite positioning signal. Calculate its location based only on

If the difference value exceeds the range of the preset difference threshold, that is, if the difference value is greater than the preset difference threshold, there is much interference to the satellite positioning signal, and the difference positioning information is the positioning of the terminal device 150. Terminal device 150 needs differential positioning information to aid in positioning, which is likely to have a significant impact on the calculation of results. Based on this determination result, control information is generated and transmitted to the roadside unit 121. The roadside unit 121 transmits differential positioning information to the vehicle-mounted unit 151 based on the control information. Calculate its location based on the positioning signal.

If the process of sending differential positioning information by the roadside unit 121 is triggered by a request from the onboard unit 151 to the roadside unit 121, the onboard unit 151 can also include the accuracy requirements required for the positioning in the request message, The information management device 122 determines a preset difference threshold according to the positioning accuracy request. The higher the positioning accuracy request, the smaller the preset difference threshold. growing. Therefore, when the positioning accuracy is not high and required, the transmission of unnecessary differential positioning information can be effectively avoided, thereby achieving the purpose of saving energy consumption and calculating the position information by the terminal device 150. save time.

In one embodiment, if the first information is satellite positioning signals and differential positioning information, calculating a calculated position of the roadside device 120 based on the satellite positioning signals and the differential positioning information, and comparing the calculated position with the actual roadside device 120; Based on the position, determine the distance difference between the calculated position and the actual position. The step of transmitting differential positioning information to the terminal device 150 if the first information satisfies a preset condition includes transmitting differential positioning information to the terminal device 150 if the distance difference is greater than a preset distance difference threshold. including the step of

The roadside information management device 122 receives the satellite positioning signal transmitted by the satellite 110, acquires positioning information from the satellite positioning signal, and the positioning information includes at least the coordinates of the satellite 110 and the propagation delay of the satellite positioning signal. . The roadside information management device 122 selects one positioning result based on the positioning information, corrects the positioning result based on the differential positioning information, and obtains the calculated position of the roadside device 120 . Based on the calculated position and the actual position of the roadside device 120, a distance difference between the calculated position and the actual position is determined.

Specifically, based on the calculated position of the roadside device 120, the coordinates ( _x1 , _y1 , _z1 ) of the calculated position are obtained, and when the roadside device 120 is placed, the actual position of the roadside device 120 is Record and store, based on the actual position, obtain the coordinates ( _x2 , _y2 , _z2 ) of the actual position, and the distance between each calculated position coordinate and the actual position coordinate according to the following formula (1): to calculate

………（１）

…………(1)

Comparing whether the distance d between the calculated position and the actual position of the roadside device 120 is within a preset distance difference threshold, and determining whether the distance d is within the preset distance difference threshold. In some cases, that is, when the distance d is less than the preset distance difference threshold, the differential positioning information has little effect on the calculation of the positioning result of the terminal device 150, and the terminal device 150 does not need the differential positioning information. can be corrected without Based on this determination result, control information is generated and transmitted to the roadside unit 121. The roadside unit 121 does not transmit differential positioning information to the vehicle-mounted unit 151 based on the control information. Calculate its location based on

If the distance d exceeds the range of the preset distance difference threshold, that is, if the distance d is greater than the preset distance difference threshold, the differential positioning information has a great influence on the calculation of the positioning result of the terminal device 150. , the terminal device 150 needs the differential positioning information to correct. Based on the determination result, control information is generated and transmitted to the roadside unit 121, the roadside unit 121 transmits differential positioning information to the vehicle-mounted unit 151 based on the control information, and the terminal device 150 receives the differential positioning information and the satellite positioning information. Calculate its location based on the signal.

In one embodiment, the roadside information management device 122 includes a satellite signal reception module 1221, a communication module 1222, a position calculation module 1223, a differential positioning information determination module 1224, and a roadside information management module 1225, as shown in FIG.

The roadside information management device 122 receives satellite positioning signals via the satellite signal reception module 1221 and acquires positioning information from the satellite positioning signals, and the communication module 1222 acquires differential positioning information from the high-precision positioning platform 140. and the position calculation module 1223 calculates the calculated position of the roadside device 120 based on the positioning information and the differential positioning information, and calculates the calculated position and the actual position of the roadside device 120 based on the calculated position and the actual position of the roadside device 120 . Get the distance difference between

The differential positioning information determination module 1224 determines whether the differential positioning information is determined according to the environment information or the differential positioning information or the relationship between the distance difference between the calculated position and the actual position of the roadside device 120 and the preset conditions. It is determined whether or not the positioning result of the roadside device 150 is affected, and the following three determination methods are used.

1. As shown in FIG. 4, this determination method includes the following steps.

In S401, environmental information is obtained, and weather conditions are determined based on the environmental information.

In S402, determine whether the differential positioning information has affected the positioning result of the terminal device; if the weather is good, the differential positioning information has little effect on the calculation of the positioning result of the terminal device; supports positioning without needing differential positioning information, it skips S403 and performs S404 directly. If the weather conditions are not good, the differential positioning information will greatly affect the calculation of the positioning result of the terminal device, and the terminal device needs the differential positioning information to support positioning, so S403 is executed.

In S403, the observation data of the ground reference station is received and differential positioning information is acquired. Here, the differential positioning information includes at least errors such as satellite and receiver clock differences, atmospheric propagation delays, and multipath effects.

In S404, control information is generated based on the determination result, and the control information is transmitted to the roadside unit.
The determination results are determination result 1 that the differential positioning information needs to be involved in the calculation of the positioning result of the terminal device, and determination result 2 that the differential positioning information does not need to be involved in the analytical calculation of the positioning result of the terminal device. including. If the determination result is 1, the control information includes the differential positioning information, and if the determination result is 2, the control information does not include the differential positioning information, and the roadside information management module 1225 transmits the control information to the roadside unit.

At S405, generate a broadcast message based on the control information and send the broadcast message to the terminal device.

If the control information includes the determination result 1, that is, if the control information includes differential positioning information, the broadcast message includes the differential positioning information, and in order to improve the analysis calculation accuracy of the positioning result of the terminal device, the terminal device Send a broadcast message to If the control information includes determination result 2, that is, if the control information does not include differential positioning information, the broadcast message does not include differential positioning information, and the broadcast message is sent to the terminal device.

Here, the method for the roadside unit to transmit the differential positioning information to the roadside terminal device includes the following three types.

(1) The roadside unit timely transmits differential positioning information to the roadside terminal device.
(2) The roadside unit transmits differential positioning information when detecting the vehicle-mounted unit of the terminal device.
(3) If the terminal device requires high-precision positioning, the vehicle-mounted unit requests the roadside unit to send differential positioning information.

At S406, the positioning result is analyzed and calculated based on the satellite positioning signal received from the satellite and the broadcast message.

The vehicle-mounted unit receives the broadcast message, and if the broadcast message contains differential positioning information, the terminal device performs accurate positioning based on the positioning information and the differential positioning information of the satellite positioning signals received from the satellites. Analyze the result. If the broadcast message does not include differential positioning information, the terminal device analyzes and calculates positioning results based only on the positioning information of the satellite positioning signals received from the satellites. Although not corrected using differential positioning information, the satellite positioning signal is less affected by the external environment, and the positioning result is also relatively accurate.

This determination method does not need to activate the satellite signal reception module 1221 and the position calculation module 1223, thus maximally reducing the energy consumption of the roadside device.

2. As shown in FIG. 5, this determination method includes the following steps.

In S501, the observation data of the ground reference station is received and differential positioning information is acquired.

In S502, it is determined whether the differential positioning information affects the positioning result of the terminal device.

obtaining a difference value based on the differential positioning information, comparing the relationship between the difference value and a preset difference threshold, and if the difference value exceeds the preset difference threshold, the differential positioning information indicates that the terminal device It has a great influence on the calculation of the positioning result, and generates a decision result 1 that the terminal device needs differential positioning information to assist positioning. If the difference value is less than the preset difference threshold, the determination result that the differential positioning information has little effect on the calculation of the positioning result of the terminal device, and the terminal device supports positioning without the need for differential positioning information. 2 is generated.

The process of S503-S505 is the same as the process of S404-S406, so the description is omitted here.

This determination method does not need to activate the satellite signal reception module 1221 and the position calculation module 1223, thus maximally reducing the energy consumption of the roadside device.

3. As shown in FIG. 6, this determination method includes the following steps.

In S601, a satellite positioning signal is received and positioning information is acquired. Here, the positioning information includes at least the coordinates of satellites and the propagation delay of satellite positioning signals.

In S602, the observation data of the ground reference station is received and differential positioning information is acquired.

In S603, it is determined whether the differential positioning information has affected the positioning result of the terminal device.

The position calculation module 1223 calculates the calculated position of the roadside device, obtains the distance difference based on the calculated position and the actual position of the roadside device, and compares the relationship between the distance difference and a preset distance difference threshold. . If the distance difference is greater than a preset distance difference threshold, the determination that the differential positioning information will greatly affect the calculation of the positioning result of the terminal device and the terminal device needs the differential positioning information to assist positioning. produces result 1. If the distance difference is less than a preset distance difference threshold, the determination that the differential positioning information has little impact on the calculation of the positioning result of the terminal device, and the terminal device supports positioning without the need for differential positioning information. produces result 2.

The process of S604-S606 is the same as the process of S404-S406, so the description is omitted here.

The functions of the roadside information management device may be implemented independently by one device shown in FIG. 3, and at the same time modules other than the satellite signal reception module may be integrated into the roadside unit, vehicle-mounted unit, or high-accuracy positioning platform. Often provided on the roadside in the form of a separate unit or integrated into the roadside or on-board unit increases the cost of the device, but reduces the time delay for the on-board unit to acquire differential positioning information. can. When integrated into a high-precision positioning platform, the cost of the roadside or terminal device is reduced, but the time delay for the on-board unit to acquire differential positioning information increases, and engineers are challenged by the cost and delay requirements of the device. Accordingly, an appropriate method can be selected to perform the function of the device.

In an embodiment of the present application, the roadside device obtains first information for positioning of the terminal device, the first information includes differential positioning information, or the first information is environment information or satellite positioning signals. contains at least one and differential positioning information, and does not need to establish a communication connection between the terminal device and the high-precision positioning platform, that is, the terminal device needs to be equipped with a mobile communication module and activate the high-precision positioning function; device cost is reduced. By transmitting differential positioning information to the terminal device when the first information satisfies a preset condition, the transmission of unnecessary differential positioning information is effectively reduced, and the unnecessary energy consumption of the roadside device and the terminal device is reduced. It can avoid, save the calculation time of location information by the terminal device, and improve the efficiency of high-precision positioning of the system. Embodiments of the present application apply to high-precision satellite positioning requirements for road-vehicle coordination scenes including, but not limited to, highways, urban highways, and the like.

FIG. 7 is a structural schematic diagram of an information transmission device provided by an embodiment of the present application. As shown in FIG. 7, the information transmission device can include an acquisition module 710 and a transmission module 720 .

The acquisition module 710 is configured to acquire first information for positioning of the terminal device, the first information includes differential positioning information, or the first information is one of environmental information or satellite positioning signals. At least one and differential positioning information.

The transmitting module 720 is configured to transmit the differential positioning information to the terminal device if the first information satisfies a preset condition.

In one embodiment, if the first information is environment information and differential positioning information, the preset condition includes that the environment information is the first environment information.

In one embodiment, the differential positioning information comprises a differential value, and if the first information is the differential value, the preset condition comprises greater than a preset differential threshold.

In one embodiment, the information transmitting device is configured to calculate the calculated position of the roadside device based on the satellite positioning signals and the differential positioning information, if the first information is the satellite positioning signals and the differential positioning information. further comprising a calculation module;
The information transmitting apparatus further includes a determination module configured to determine a distance difference between the calculated position and the actual position of the roadside device based on the calculated position and the actual position of the roadside device;
The transmitting unit is specifically configured to transmit the differential positioning information to the terminal device when said distance difference is greater than a preset distance difference threshold.

Each module of the information transmitting device shown in FIG. 7 has the function of realizing each step in FIG. 2 and can achieve the corresponding technical effect, and for the sake of simplicity, the description is omitted here. do.

FIG. 8 is a schematic diagram of a hardware structure for information transmission provided by an embodiment of the present application.

The roadside device may comprise a processor 801 and a memory 802 for storing computer program instructions.

Specifically, the processor 801 may include a Central Processing Unit (CPU) or an Application Specific Integrated Circuit (ASIC), or may implement embodiments of the present application. may be configured as one or more integrated circuits that

Memory 802 may include mass memory for data or instructions. By way of example and not limitation, memory 802 may be a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape or a Universal Serial Bus (USB) drive or two. or more combinations of these. In one embodiment, memory 802 can include removable or non-removable (or non-removable) media, or memory 802 is non-volatile solid state memory. Memory 802 can be located internal or external to the integrated gateway disaster recovery device.

In one example, the memory 802 can be read only memory (ROM), random access memory (RAM), magnetic disk storage media device, optical storage media device, flash memory device, electrical, optical or other physical/tangible A memory storage device may be included. Thus, memory 802 typically includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software containing computer-executable instructions, which software (e.g., When executed by one or more processors), it is operable to perform the operations described with reference to the method of one aspect of the embodiments of the present application.

Processor 801 implements steps S210 through S220 in the embodiment shown in FIG. 2 by reading and executing computer program instructions stored in memory 802, and by performing those steps in the example shown in FIG. In order to achieve the corresponding technical effect achieved and to simplify the description, the description is not omitted here.

In one example, the roadside device may also include communication interface 803 and bus 810 . Here, as shown in FIG. 8, processor 801, memory 802 and communication interface 803 are connected via bus 810 to complete mutual communication.

Communication interface 803 is mainly used to realize communication between modules, devices, units and/or devices in the embodiments of the present application.

Bus 810 includes hardware, software, or both, and couples components for transmission of information. By way of example and not limitation, the bus may be an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB). Bus), Hyper Transport (HT) Interconnect, Industry Standard Architecture (ISA) Bus, InfiniBand Interconnect, Low Pin Count (LPC) Bus, Memory Bus, Micro Channel Architecture (MCA) Bus , Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Board Local (VLB) bus or other suitable bus or two or more can include a combination of Bus 810 may include one or more buses, where appropriate. Although the examples of this application describe and show a particular bus, the examples of this application contemplate any suitable bus or interconnect.

The roadside device can implement the information transmission method in the embodiments of the present application based on the differential positioning information, the environment information, the satellite positioning signal and the preset threshold, thereby combining FIGS. to implement the information transmission method and apparatus described above.

Also, in combination with the information transmission method in the above embodiments, the embodiments of the present application may be implemented by providing a computer storage medium. The computer storage medium stores computer program instructions that, when executed by a processor, implement any of the information transmission methods in the above embodiments.

It is clear that the embodiments of the present application are not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, some specific steps are described and shown as examples. However, the method processes of the embodiments of the present application are not limited to the specific steps described and illustrated, and those skilled in the art may make various changes, modifications and additions with the understanding of the spirit of the embodiments of the present application. or change the order between the steps.

The functional blocks shown in the structural block diagrams above may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), appropriate firmware, plug-ins, feature cards, or the like. When implemented in software, elements of the embodiments of the present application are programs or code segments used to perform the required tasks. Programs or code segments may be stored on a machine-readable medium or transmitted over a transmission medium or communication link by data signals carried in carrier waves. A "machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, etc. is included. Code segments may be downloaded over a computer network such as the Internet, an intranet, or the like.

It should be noted that the exemplary embodiments referred to in the embodiments of this application describe some methods or systems based on a series of steps or apparatus. However, embodiments of the present application are not limited to the order of the steps above, i.e. the steps can be performed in the order mentioned in the example, and may be performed in a different order than the order in the example. , or several steps are performed simultaneously.

Various aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products of embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus such that the instructions are executed by the processor of the computer or other programmable data processing apparatus to form flowcharts and/or block diagrams. may result in a machine in which the functions/operations defined in one or more blocks of are implemented. Such processors may be, but are not limited to, general purpose processors, special purpose processors, application specific processors or field programmable logic circuits. The blocks and/or each block of the flowcharts and/or combinations of blocks in the flowcharts may be implemented by dedicated hardware to perform the specified functions or acts, or by a combination of dedicated hardware and computer instructions. may be implemented.

The above are only specific embodiments of the present application, and for the sake of ease and conciseness of explanation, those skilled in the art may refer to the specific operation processes of the above systems, modules and units in the above method embodiments. It can be clearly understood that the corresponding process can be referred to, and the description is omitted here. The scope of protection of this application is not limited to this, and any person skilled in the art can easily conceive various equivalent changes or replacements within the technical scope disclosed in this application, and all of these changes or replacements are It should be understood that it should be included in the protection scope of the application.

Claims (10)

A method of transmitting information,
Obtaining first information for positioning of a terminal device, said first information comprising differential positioning information, or said first information being at least one of environmental information or satellite positioning signals. and differential positioning information;
and transmitting the differential positioning information to a terminal device if the first information satisfies a preset condition. 2. The information transmission method according to claim 1, wherein when the first information is the environment information and differential positioning information, the preset condition includes that the environment information is the first environment information. The information according to claim 1, wherein the differential positioning information comprises a differential value, and when the first information is the differential value, the preset condition comprises greater than a preset differential threshold. Send method. if the first information is satellite positioning signals and differential positioning information, calculating a calculated position of the roadside device based on the satellite positioning signals and differential positioning information;
determining a distance difference between the calculated position and the actual position based on the calculated position and the actual position of the roadside device;
transmitting the differential positioning information to a terminal device if the first information satisfies a preset condition;
The method of claim 1, comprising transmitting the differential positioning information to a terminal device when the distance difference is greater than a preset distance difference threshold. An information transmission device,
An acquisition module configured to acquire first information for positioning of a terminal device, wherein said first information comprises differential positioning information, or said first information is environment information or satellite positioning signals and differential positioning information;
a transmitting module configured to transmit the differential positioning information to a terminal device if the first information satisfies a preset condition. 6. The information transmitting apparatus according to claim 5, wherein when the first information is the environment information and differential positioning information, the preset condition includes that the environment information is the first environment information. 6. The information according to claim 5, wherein the differential positioning information comprises a differential value, and when the first information is the differential value, the preset condition comprises greater than a preset differential threshold. transmitter. The information transmitting apparatus further includes a calculation module configured to calculate a calculated position of a roadside device based on satellite positioning signals and differential positioning information, if the first information is satellite positioning signals and differential positioning information. ,
the information transmitting device further comprising a determination module configured to determine a distance difference between the calculated position and the actual position of the roadside device based on the calculated position and the actual position of the roadside device;
The information transmitting apparatus according to claim 5, wherein the transmitting module is specifically configured to transmit the differential positioning information to a terminal device when the distance difference is greater than a preset distance difference threshold. . a memory for storing computer program instructions;
a processor for reading and executing said computer program instructions to implement the information transmission method according to any one of claims 1-4. A computer storage medium storing computer program instructions for causing a processor to perform the information transmission method of any one of claims 1-4.